#ifndef QUATERNION_H

#define QUATERNION_H
#include <iostream>
#include <math.h>
#include "tmatrix.h"
class Quaternion {
double mData[4];
public:
Quaternion() {
mData[0] = mData[1] = mData[2] = 0;
mData[3] = 1;
}
Quaternion(const TVector3& v, double w) {
mData[0] = v.element(0,0);
mData[1] = v.element(1,0);
mData[2] = v.element(2,0);
mData[3] = w;
}
Quaternion(const TVector4& v) {
mData[0] = v.element(0,0);
mData[1] = v.element(1,0);
mData[2] = v.element(2,0);
mData[3] = v.element(3,0);
}
Quaternion(const double* array) {
if (!array) {
UAV_EXCEPTION("Constructing quaternion from 0 array.");
}
for (uint32_t i = 0; i < 4; i++) {
mData[i] = array[i];
}
}
Quaternion(double x, double y, double z, double w) {
mData[0] = x;
mData[1] = y;
mData[2] = z;
mData[3] = w;
}
double
double
double
double

x()
y()
z()
w()

const
const
const
const

{
{
{
{

return
return
return
return

mData[0]; }
mData[1]; }
mData[2]; }
real(); }

TVector3 complex() const { return TVector3(mData); }

void complex(const TVector3& c) { mData[0] = c[0]; mData[1] = c[1]; mData[2
] = c[2]; }
double real() const { return mData[3]; }
void real(double r) { mData[3] = r; }

Quaternion conjugate(void) const {

return Quaternion(-complex(), real());
}
/**
* @brief Computes the inverse of this quaternion.
*
* @note This is a general inverse. If you know a priori
* that you're using a unit quaternion (i.e., norm() == 1),
* it will be significantly faster to use conjugate() instead.
*
* @return The quaternion q such that q * (*this) == (*this) * q
* == [ 0 0 0 1 ]^T.
*/
Quaternion inverse(void) const {
return conjugate() / norm();
}
/**
* @brief Computes the product of this quaternion with the
* quaternion 'rhs'.
*
* @param rhs The right-hand-side of the product operation.
*
* @return The quaternion product (*this) x @p rhs.
*/
Quaternion product(const Quaternion& rhs) const {
return Quaternion(y()*rhs.z() - z()*rhs.y() + x()*rhs.w()
z()*rhs.x() - x()*rhs.z() + y()*rhs.w()
x()*rhs.y() - y()*rhs.x() + z()*rhs.w()
w()*rhs.w() - x()*rhs.x() - y()*rhs.y()
}
/**
* @brief Quaternion product operator.
*
* The result is a quaternion such that:
*
* result.real() = (*this).real() * rhs.real() * (*this).complex().dot(rhs.complex());
*
* and:
*
* result.complex() = rhs.complex() * (*this).real
* + (*this).complex() * rhs.real()
* - (*this).complex().cross(rhs.complex());
*
* @return The quaternion product (*this) x rhs.
*/
Quaternion operator*(const Quaternion& rhs) const {
return product(rhs);
}
/**
* @brief Quaternion scalar product operator.
* @param s A scalar by which to multiply all components
* of this quaternion.
* @return The quaternion (*this) * s.
*/

+
+
+
-

w()*rhs.x(),
w()*rhs.y(),
w()*rhs.z(),
z()*rhs.z());

Quaternion operator*(double s) const {

return Quaternion(complex()*s, real()*s);
}
/**
* @brief Produces the sum of this quaternion and rhs.
*/
Quaternion operator+(const Quaternion& rhs) const {
return Quaternion(x()+rhs.x(), y()+rhs.y(), z()+rhs.z(), w()+rhs.w());
}
/**
* @brief Produces the difference of this quaternion and rhs.
*/
Quaternion operator-(const Quaternion& rhs) const {
return Quaternion(x()-rhs.x(), y()-rhs.y(), z()-rhs.z(), w()-rhs.w());
}
/**
* @brief Unary negation.
*/
Quaternion operator-() const {
return Quaternion(-x(), -y(), -z(), -w());
}
/**
* @brief Quaternion scalar division operator.
* @param s A scalar by which to divide all components
* of this quaternion.
* @return The quaternion (*this) / s.
*/
Quaternion operator/(double s) const {
if (s == 0) std::clog << "Dividing quaternion by 0." << std::endl;
return Quaternion(complex()/s, real()/s);
}
/**
* @brief Returns a matrix representation of this
* quaternion.
*
* Specifically this is the matrix such that:
*
* this->matrix() * q.vector() = (*this) * q for any quaternion q.
*
* Note that this is @e NOT the rotation matrix that may be
* represented by a unit quaternion.
*/
TMatrix4 matrix() const {
double m[16] = {
w(), -z(), y(), x(),
z(), w(), -x(), y(),
-y(), x(), w(), z(),
-x(), -y(), -z(), w()
};
return TMatrix4(m);
}
/**
* @brief Returns a matrix representation of this
* quaternion for right multiplication.

*
* Specifically this is the matrix such that:
*
* q.vector().transpose() * this->matrix() = (q *
* (*this)).vector().transpose() for any quaternion q.
*
* Note that this is @e NOT the rotation matrix that may be
* represented by a unit quaternion.
*/
TMatrix4 rightMatrix() const {
double m[16] = {
+w(), -z(), y(), -x(),
+z(), w(), -x(), -y(),
-y(), x(), w(), -z(),
+x(), y(), z(), w()
};
return TMatrix4(m);
}
/**
* @brief Returns this quaternion as a 4-vector.
*
* This is simply the vector [x y z w]^T
*/
TVector4 vector() const { return TVector4(mData); }
/**
* @brief Returns the norm ("magnitude") of the quaternion.
* @return The 2-norm of [ w(), x(), y(), z() ]^T.
*/
double norm() const { return sqrt(mData[0]*mData[0]+mData[1]*mData[1]+
mData[2]*mData[2]+mData[3]*mData[3]); }
/**
* @brief Computes the rotation matrix represented by a unit
* quaternion.
*
* @note This does not check that this quaternion is normalized.
* It formulaically returns the matrix, which will not be a
* rotation if the quaternion is non-unit.
*/
TMatrix3 rotationMatrix() const {
double m[9] = {
1-2*y()*y()-2*z()*z(), 2*x()*y() - 2*z()*w(), 2*x()*z() + 2*y()*w(),
2*x()*y() + 2*z()*w(), 1-2*x()*x()-2*z()*z(), 2*y()*z() - 2*x()*w(),
2*x()*z() - 2*y()*w(), 2*y()*z() + 2*x()*w(), 1-2*x()*x()-2*y()*y()
};
return TMatrix3(m);
}
/**
* @brief Returns the scaled-axis representation of this
* quaternion rotation.
*/
TVector3 scaledAxis(void) const {
double w[3];
HeliMath::scaled_axis_from_quaternion(w, mData);
return TVector3(w);
}

/**
* @brief Sets quaternion to be same as rotation by scaled axis w.
*/
void scaledAxis(const TVector3& w) {
double theta = w.norm();
if (theta > 0.0001) {
double s = sin(theta / 2.0);
TVector3 W(w / theta * s);
mData[0] = W[0];
mData[1] = W[1];
mData[2] = W[2];
mData[3] = cos(theta / 2.0);
} else {
mData[0]=mData[1]=mData[2]=0;
mData[3]=1.0;
}
}
/**
* @brief Returns a vector rotated by this quaternion.
*
* Functionally equivalent to: (rotationMatrix() * v)
* or (q * Quaternion(0, v) * q.inverse()).
*
* @warning conjugate() is used instead of inverse() for better
* performance, when this quaternion must be normalized.
*/
TVector3 rotatedVector(const TVector3& v) const {
return (((*this) * Quaternion(v, 0)) * conjugate()).complex();
}

/**
* @brief Computes the quaternion that is equivalent to a given
* euler angle rotation.
* @param euler A 3-vector in order: roll-pitch-yaw.
*/
void euler(const TVector3& euler) {
double c1 = cos(euler[2] * 0.5);
double c2 = cos(euler[1] * 0.5);
double c3 = cos(euler[0] * 0.5);
double s1 = sin(euler[2] * 0.5);
double s2 = sin(euler[1] * 0.5);
double s3 = sin(euler[0] * 0.5);
mData[0]
mData[1]
mData[2]
mData[3]

=
=
=
=

c1*c2*s3
c1*s2*c3
s1*c2*c3
c1*c2*c3

+
+

s1*s2*c3;
s1*c2*s3;
c1*s2*s3;
s1*s2*s3;

}
/** @brief Returns an equivalent euler angle representation of
* this quaternion.
* @return Euler angles in roll-pitch-yaw order.
*/
TVector3 euler(void) const {
TVector3 euler;
const static double PI_OVER_2 = M_PI * 0.5;
const static double EPSILON = 1e-10;

double sqw, sqx, sqy, sqz;

// quick conversion to Euler angles to give tilt to user
sqw = mData[3]*mData[3];
sqx = mData[0]*mData[0];
sqy = mData[1]*mData[1];
sqz = mData[2]*mData[2];
euler[1] = asin(2.0 * (mData[3]*mData[1] - mData[0]*mData[2]));
if (PI_OVER_2 - fabs(euler[1]) > EPSILON) {
euler[2] = atan2(2.0 * (mData[0]*mData[1] + mData[3]*mData[2]),
sqx - sqy - sqz + sqw);
euler[0] = atan2(2.0 * (mData[3]*mData[0] + mData[1]*mData[2]),
sqw - sqx - sqy + sqz);
} else {
// compute heading from local 'down' vector
euler[2] = atan2(2*mData[1]*mData[2] - 2*mData[0]*mData[3],
2*mData[0]*mData[2] + 2*mData[1]*mData[3]);
euler[0] = 0.0;
// If facing down, reverse yaw
if (euler[1] < 0)
euler[2] = M_PI - euler[2];
}
return euler;
}
/**
* @brief Computes a special representation that decouples the Z
* rotation.
*
* The decoupled representation is two rotations, Qxy and Qz,
* so that Q = Qxy * Qz.
*/
void decoupleZ(Quaternion* Qxy, Quaternion* Qz) const {
TVector3 ztt(0,0,1);
TVector3 zbt = this->rotatedVector(ztt);
TVector3 axis_xy = ztt.cross(zbt);
double axis_norm = axis_xy.norm();
double axis_theta = acos(HeliMath::saturate(zbt[2], -1,+1));
if (axis_norm > 0.00001) {
axis_xy = axis_xy * (axis_theta/axis_norm); // limit is *1
}
Qxy->scaledAxis(axis_xy);
*Qz = (Qxy->conjugate() * (*this));
}
/**
* @brief Returns the quaternion slerped between this and q1 by fraction 0 <=
t <= 1.
*/
Quaternion slerp(const Quaternion& q1, double t) {
return slerp(*this, q1, t);
}
/// Returns quaternion that is slerped by fraction 't' between q0 and q1.
static Quaternion slerp(const Quaternion& q0, const Quaternion& q1, double t)
{

double omega = acos(HeliMath::saturate(q0.mData[0]*q1.mData[0] +

q0.mData[1]*q1.mData[1] +
q0.mData[2]*q1.mData[2] +
q0.mData[3]*q1.mData[3], -1,1));
if (fabs(omega) < 1e-10) {
omega = 1e-10;
}
double som = sin(omega);
double st0 = sin((1-t) * omega) / som;
double st1 = sin(t * omega) / som;
return Quaternion(q0.mData[0]*st0
q0.mData[1]*st0
q0.mData[2]*st0
q0.mData[3]*st0

+
+
+
+

q1.mData[0]*st1,
q1.mData[1]*st1,
q1.mData[2]*st1,
q1.mData[3]*st1);

}
/**
* @brief Returns pointer to the internal array.
*
* Array is in order x,y,z,w.
*/
double* row(uint32_t i) { return mData + i; }
// Const version of the above.
const double* row(uint32_t i) const { return mData + i; }
};
/**
* @brief Global operator allowing left-multiply by scalar.
*/
Quaternion operator*(double s, const Quaternion& q);
#endif /* QUATERNION_H */